File size: 3,327 Bytes
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{
"tree": {
"kitchen": [
[
"table",
"FLOOR"
],
[
"franka",
"IN"
]
],
"table": [
[
"orange",
"ON"
],
[
"blue napkin",
"ON"
],
[
"plate",
"ON"
],
[
"spoon",
"ON"
]
]
},
"relation": {
"task_desc": "Pick up the orange and place it on the blue napkin on the table.",
"task": "pick and place",
"robot": "franka",
"background": "kitchen",
"context": "table",
"manipulated_objs": [
"orange",
"blue napkin"
],
"distractor_objs": [
"plate",
"spoon"
]
},
"objs_desc": {
"kitchen": "bright, modern kitchen with sleek white cabinets and a polished marble countertop",
"table": "standalone wooden dining table with smooth surface and empty, well-polished top",
"orange": "vibrant orange fruit with slightly textured peel and natural dimples",
"blue napkin": "folded cotton napkin in deep royal blue with soft fabric texture",
"plate": "glossy white ceramic plate with subtle curved edges and a clean shine",
"spoon": "stainless steel spoon with a reflective surface and smooth handle"
},
"objs_mapping": {
"kitchen": "background",
"table": "context",
"orange": "manipulated_objs",
"blue napkin": "manipulated_objs",
"plate": "distractor_objs",
"spoon": "distractor_objs"
},
"assets": {
"table": "asset3d/table/result",
"orange": "asset3d/orange/result",
"blue napkin": "asset3d/blue_napkin/result",
"plate": "asset3d/plate/result",
"spoon": "asset3d/spoon/result",
"kitchen": "background"
},
"quality": {
"table": "YES",
"orange": "YES",
"blue napkin": "YES",
"plate": "YES",
"spoon": "YES"
},
"position": {
"franka": [
-0.4734,
0,
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0.0,
0.0,
0.0,
-1.0
],
"kitchen": [
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0,
0,
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0.0,
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],
"table": [
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0,
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0,
0,
0,
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],
"plate": [
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-0.1775,
0.758,
0.0,
0.0,
0.8497,
-0.5272
],
"blue napkin": [
0.1252,
0.2257,
0.7612,
0.0,
0.0,
0.9873,
0.159
],
"spoon": [
0.0484,
0.0302,
0.7597,
0.0,
0.0,
0.6754,
0.7375
],
"orange": [
0.144,
-0.205,
0.7909,
0.0,
0.0,
0.0398,
-0.9992
]
}
} |